JP2022514450A - ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視 - Google Patents

ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視 Download PDF

Info

Publication number
JP2022514450A
JP2022514450A JP2021518663A JP2021518663A JP2022514450A JP 2022514450 A JP2022514450 A JP 2022514450A JP 2021518663 A JP2021518663 A JP 2021518663A JP 2021518663 A JP2021518663 A JP 2021518663A JP 2022514450 A JP2022514450 A JP 2022514450A
Authority
JP
Japan
Prior art keywords
user
surgical robot
input device
data
processor unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
JP2021518663A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022514450A5 (https=
Inventor
ヘアーズ・ルーク・デイビット・ロナルド
ロバーツ・ポール・クリストファー
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of JP2022514450A publication Critical patent/JP2022514450A/ja
Priority to JP2022164654A priority Critical patent/JP2022186798A/ja
Publication of JP2022514450A5 publication Critical patent/JP2022514450A5/ja
Ceased legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/053—Measuring electrical impedance or conductance of a portion of the body
    • A61B5/0531—Measuring skin impedance
    • A61B5/0533—Measuring galvanic skin response
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue
    • A61B5/14542—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue for measuring blood gases
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2021518663A 2018-10-03 2019-10-03 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視 Ceased JP2022514450A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022164654A JP2022186798A (ja) 2018-10-03 2022-10-13 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1816167.9 2018-10-03
GB1816167.9A GB2577717B (en) 2018-10-03 2018-10-03 Monitoring performance during manipulation of user input control device of robotic system
PCT/GB2019/052792 WO2020070501A1 (en) 2018-10-03 2019-10-03 Monitoring performance during manipulation of user input control device of robotic system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022164654A Division JP2022186798A (ja) 2018-10-03 2022-10-13 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視

Publications (2)

Publication Number Publication Date
JP2022514450A true JP2022514450A (ja) 2022-02-14
JP2022514450A5 JP2022514450A5 (https=) 2022-10-21

Family

ID=68242726

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2021518663A Ceased JP2022514450A (ja) 2018-10-03 2019-10-03 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視
JP2022164654A Pending JP2022186798A (ja) 2018-10-03 2022-10-13 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2022164654A Pending JP2022186798A (ja) 2018-10-03 2022-10-13 ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視

Country Status (6)

Country Link
US (1) US20210346109A1 (https=)
EP (1) EP3860498A1 (https=)
JP (2) JP2022514450A (https=)
CN (1) CN112789006A (https=)
GB (1) GB2577717B (https=)
WO (1) WO2020070501A1 (https=)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023528960A (ja) * 2020-06-12 2023-07-06 コーニンクレッカ フィリップス エヌ ヴェ ツール及びユーザの相互作用力に基づく協働ロボット制御パラメータの自動選択
KR20230129837A (ko) * 2022-03-02 2023-09-11 광운대학교 산학협력단 인간-로봇 협업 상태 관측 방법, 이를 수행하는 장치 및 컴퓨터 프로그램
WO2023180882A1 (en) * 2022-03-24 2023-09-28 Auris Health, Inc. Methods of dynamically stopping a motor

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210350929A1 (en) * 2020-05-11 2021-11-11 Corsight.Ai Visual identification based access control of a person with suspected symptoms
EP4360581A3 (en) * 2020-07-28 2024-07-31 Forsight Robotics Ltd. Robotic system for microsurgical procedures
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
CN116113892A (zh) * 2020-08-24 2023-05-12 发那科株式会社 电动机的控制装置、机械系统以及控制方法
DE102020134626A1 (de) * 2020-12-22 2022-06-23 avateramedical GmBH Robotisches Operationssystem und Verfahren zu seiner Steuerung
FR3117997A1 (fr) * 2020-12-22 2022-06-24 Safran Electronics & Defense Interface homme-machine, notamment pour un véhicule ou pour un dispositif.
CN117323018A (zh) * 2021-04-27 2024-01-02 深圳市精锋医疗科技股份有限公司 输入装置及手术机器人
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
US12358136B2 (en) * 2021-06-30 2025-07-15 Cilag Gmbh International Grasping work determination and indications thereof
CN113779533B (zh) * 2021-08-27 2024-05-14 上海微创医疗机器人（集团）股份有限公司 用于医用机器人的操作者身份识别方法、装置和系统
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
CN114081631B (zh) * 2021-11-18 2024-05-03 上海微创医疗机器人（集团）股份有限公司 健康监测系统及手术机器人系统
DE102022118330A1 (de) 2022-07-21 2024-02-01 Karl Storz Se & Co. Kg System mit einem medizinischen Operationsinstrument, einer Datenerfassungsvorrichtung und einer Datenverarbeitungseinrichtung
CN115444565B (zh) * 2022-08-22 2024-01-30 北京长木谷医疗科技股份有限公司 手术机器人系统及其执行末端的反馈控制系统和方法
TWI825969B (zh) * 2022-09-01 2023-12-11 遊戲橘子數位科技股份有限公司 手術機器人之結構
CN120379611A (zh) * 2022-12-06 2025-07-25 直观外科手术操作公司 用于在控制可重新定位结构时耗散动能的系统和方法
WO2026013668A1 (en) * 2024-07-10 2026-01-15 Mazor Robotics Ltd. Surgical robotic systems and methods for using the same

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010237826A (ja) * 2009-03-30 2010-10-21 Secom Co Ltd 移動体の監視装置および監視システム
JP2013510672A (ja) * 2009-11-13 2013-03-28 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 遠隔操作される低侵襲スレーブ手術器具の手による制御のための方法およびシステム
US20140046128A1 (en) * 2012-08-07 2014-02-13 Samsung Electronics Co., Ltd. Surgical robot system and control method thereof
US20180078319A1 (en) * 2016-09-21 2018-03-22 Verb Surgical Inc. User arm support for use in a robotic surgical system
US20180161108A1 (en) * 2016-12-09 2018-06-14 Verb Surgical Inc. User interface devices for use in robotic surgery

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6587750B2 (en) * 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
JP4627152B2 (ja) * 2004-06-01 2011-02-09 三星電子株式会社 危機監視システム
US20080249806A1 (en) * 2006-04-06 2008-10-09 Ethicon Endo-Surgery, Inc Data Analysis for an Implantable Restriction Device and a Data Logger
AU2007254159B2 (en) * 2006-05-19 2013-07-04 Mako Surgical Corp. System and method for verifying calibration of a surgical device
US7843158B2 (en) * 2008-03-31 2010-11-30 Intuitive Surgical Operations, Inc. Medical robotic system adapted to inhibit motions resulting in excessive end effector forces
JP2010126279A (ja) * 2008-11-26 2010-06-10 Mitsubishi Electric Corp エレベータ運転システム及びエレベータ装置
US9552056B1 (en) * 2011-08-27 2017-01-24 Fellow Robots, Inc. Gesture enabled telepresence robot and system
CN107961076B (zh) * 2012-08-15 2020-07-07 直观外科手术操作公司 使用者启动的手术安装平台的断开式离合
JP2014085727A (ja) * 2012-10-19 2014-05-12 Pai-R Co Ltd 運行管理システム
US20160235323A1 (en) * 2013-09-25 2016-08-18 Mindmaze Sa Physiological parameter measurement and feedback system
CA2935160C (en) * 2013-12-31 2023-06-20 Lifescan, Inc. Methods, systems, and devices for optimal positioning of sensors
WO2015134391A1 (en) * 2014-03-03 2015-09-11 University Of Washington Haptic virtual fixture tools
CN110448345B (zh) * 2014-08-12 2022-10-14 直观外科手术操作公司 检测不受控制的移动
CA2973235C (en) * 2015-01-09 2017-12-12 Titan Medical Inc. Alignment difference safety in a master-slave robotic system
JP6914942B2 (ja) * 2016-01-29 2021-08-04 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 可変速度手術器具のためのシステム及び方法
BR112019004139B1 (pt) * 2016-10-03 2023-12-05 Verb Surgical Inc Tela tridimensional imersiva para cirurgia robótica

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010237826A (ja) * 2009-03-30 2010-10-21 Secom Co Ltd 移動体の監視装置および監視システム
JP2013510672A (ja) * 2009-11-13 2013-03-28 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 遠隔操作される低侵襲スレーブ手術器具の手による制御のための方法およびシステム
US20140046128A1 (en) * 2012-08-07 2014-02-13 Samsung Electronics Co., Ltd. Surgical robot system and control method thereof
US20180078319A1 (en) * 2016-09-21 2018-03-22 Verb Surgical Inc. User arm support for use in a robotic surgical system
US20180161108A1 (en) * 2016-12-09 2018-06-14 Verb Surgical Inc. User interface devices for use in robotic surgery

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023528960A (ja) * 2020-06-12 2023-07-06 コーニンクレッカ フィリップス エヌ ヴェ ツール及びユーザの相互作用力に基づく協働ロボット制御パラメータの自動選択
JP7835164B2 (ja) 2020-06-12 2026-03-25 コーニンクレッカ フィリップス エヌ ヴェ ツール及びユーザの相互作用力に基づく協働ロボット制御パラメータの自動選択
KR20230129837A (ko) * 2022-03-02 2023-09-11 광운대학교 산학협력단 인간-로봇 협업 상태 관측 방법, 이를 수행하는 장치 및 컴퓨터 프로그램
KR102705819B1 (ko) * 2022-03-02 2024-09-11 광운대학교 산학협력단 인간-로봇 협업 상태 관측 방법, 이를 수행하는 장치 및 컴퓨터 프로그램
WO2023180882A1 (en) * 2022-03-24 2023-09-28 Auris Health, Inc. Methods of dynamically stopping a motor

Also Published As

Publication number Publication date
WO2020070501A1 (en) 2020-04-09
GB2577717B (en) 2023-06-21
CN112789006A (zh) 2021-05-11
US20210346109A1 (en) 2021-11-11
EP3860498A1 (en) 2021-08-11
GB2577717A (en) 2020-04-08
JP2022186798A (ja) 2022-12-15

Similar Documents

Publication Publication Date Title
JP2022186798A (ja) ロボットシステムのユーザ入力制御装置の操作中におけるパフォーマンスの監視
JP7542040B2 (ja) 自動内視鏡ビデオ拡張
US12336777B2 (en) Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
JP6582549B2 (ja) 振動検出モジュール、振動検出装置、振動検出方法及び手術システム
CN117083590A (zh) 专注于可听信息的音频增强现实提示
GB2613980A (en) Monitoring performance during manipulation of a robotic system
US20260013961A1 (en) Dynamic adjustment of system features and control of surgical robotic systems
RU216092U1 (ru) Автоматическое дополнение эндоскопического видеоизображения
RU214412U1 (ru) Автоматическое дополнение эндоскопического видеоизображения

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210419

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210419

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20220422

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220517

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20220812

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20221013

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20230104

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230502

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20230613

A912 Re-examination (zenchi) completed and case transferred to appeal board

Free format text: JAPANESE INTERMEDIATE CODE: A912

Effective date: 20230804

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240318

A045 Written measure of dismissal of application [lapsed due to lack of payment]

Free format text: JAPANESE INTERMEDIATE CODE: A045

Effective date: 20240917